Mechanical arm and humanoid robot

Abstract

The invention provides a mechanical arm and a humanoid robot, and relates to the technical field of robots. The mechanical arm comprises a small arm assembly, the small arm assembly comprises a small arm, a wrist framework, a first wrist joint driving piece and a second wrist joint driving piece, the small arm is provided with an elbow joint end and a wrist joint end, and the first wrist joint driving piece, the wrist framework, the second wrist joint driving piece and the wrist joint end are sequentially connected. The first wrist joint driving piece and the second wrist joint driving piece are sequentially arranged in the axial direction of the forearm, the first wrist joint driving piece is used for driving the hand assembly to rotate around a first reference axis, and the second wrist joint driving piece is used for driving the wrist skeleton to rotate around a second reference axis; the first reference axis, the second reference axis and the axis of the small arm are perpendicular to one another. According to the mechanical arm, the mode that the first wrist joint driving piece and the second wrist joint driving piece are sequentially connected in series is adopted to replace a traditional motor parallel connection and connecting rod transmission matching scheme, the structure of the small arm assembly is simplified, and the weight of the mechanical arm is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a mechanical arm and a humanoid robot. Background Art

[0002] The robotic arm is a representative complex component in the humanoid robot system. It is the basis for the humanoid robot to complete grasping operations and human-machine interaction. Its structure is complex and heavy. At the same time, the cost of the robotic arm is high. With the application of humanoid robots in the industrial field, higher requirements are placed on the lightweight and low-cost design of the robotic arm of humanoid robots. Summary of the invention

[0003] In view of this, the purpose of the present invention is to overcome the shortcomings of the prior art and to provide a robotic arm and a humanoid robot. By optimizing the design of the forearm structure and replacing the traditional motor parallel connection and connecting rod transmission solution, the number of parts of the forearm assembly is greatly reduced, while effectively reducing the weight and cost of the entire arm.

[0004] The present invention provides the following technical solutions:

[0005] In a first aspect, an embodiment of the present application provides a robotic arm, comprising a forearm assembly, wherein the forearm assembly comprises a forearm, a wrist skeleton, a first wrist joint driver and a second wrist joint driver, the forearm having an elbow joint end and a wrist joint end, the first wrist joint driver, the wrist skeleton, the second wrist joint driver and the wrist joint end being connected in sequence, the first wrist joint driver and the second wrist joint driver being arranged in sequence in the axial direction of the forearm, the first wrist joint driver being used to drive the hand assembly to rotate around a first reference axis, the second wrist joint driver being used to connect the hand assembly and capable of driving the wrist skeleton to rotate around a second reference axis, the first reference axis, the second reference axis and the axis of the forearm being perpendicular to each other.

[0006] In some embodiments of the first aspect, the first wrist joint driving member is configured as a first wrist joint motor, the first wrist joint motor having a first housing and a first rotating shaft, the axis of the first rotating shaft coincides with the first reference axis, the first housing is connected to the wrist skeleton, and the first rotating shaft is connected to the wrist joint end;

[0007] The second wrist joint driving component is configured as a second wrist joint motor, the second wrist joint motor has a second housing and a second rotating shaft, the axis of the second rotating shaft coincides with the second reference axis, and the second housing is connected to the wrist skeleton.

[0008] In some embodiments of the first aspect, the wrist skeleton has a first end and a second end relative to each other, the first end has a first groove portion, the second end has a second groove portion, the first groove portion has a pair of first groove walls oppositely arranged, the first shell is located in the first groove portion, and the first shell is connected to the first groove wall on the corresponding side, the second groove portion has a pair of second groove walls oppositely arranged, the second shell is located in the second groove portion, and the second shell is connected to the second groove wall on the corresponding side.

[0009] In some embodiments of the first aspect, the forearm assembly also includes a wrist adapter, which has a first adapter arm and a second adapter arm that are relatively arranged, the first adapter arm is connected to the first rotating shaft, the second adapter arm is rotatably connected to the first shell, and the first adapter arm and the second adapter arm are coaxially rotatably arranged.

[0010] In some embodiments of the first aspect, the small arm assembly also includes a first connecting member, the first connecting member having a first insertion end, and the end of the first connecting member facing away from the first insertion end is connected to the second transfer arm; wherein, the first shell has a third groove portion, a first bearing is arranged in the third groove portion, the first bearing and the first rotating shaft are coaxially arranged, the first bearing and the third groove portion are interference fit, and the second transfer arm has a first mounting hole, the first insertion end is inserted into the first mounting hole and the first inner ring of the first bearing, the first insertion end and the first inner ring of the first bearing are interference fit, and a gap is arranged between the second transfer arm and the first bearing.

[0011] In some embodiments of the first aspect, the robot arm further comprises a large arm assembly, the small arm assembly further comprises an elbow joint motor and an elbow adapter, the elbow joint motor has a third housing and a third rotating shaft, the large arm assembly is connected to the third rotating shaft through the elbow adapter, and the axis of the second rotating shaft coincides with or is parallel to the axis of the small arm;

[0012] Wherein, the elbow joint end is provided with a fourth slot portion, the fourth slot portion has at least two fourth slot walls, the elbow joint motor portion is located in the fourth slot portion, and the third housing is connected to the fourth slot wall on the corresponding side;

[0013] The wrist joint end has two oppositely arranged third transfer arms and a fourth transfer arm, the third transfer arm is connected to the second rotating shaft, the fourth transfer arm is rotationally connected to the second shell, and the third transfer arm and the fourth transfer arm are coaxially rotatably arranged.

[0014] In some embodiments of the first aspect, the small arm assembly also includes a second connecting member, the second connecting member has a second insertion end, and the end of the second connecting member facing away from the second insertion end is connected to the fourth transfer arm; wherein, the second shell has a fifth groove portion, a second bearing is arranged in the fifth groove portion, the second bearing and the second rotating shaft are coaxially arranged, the second bearing and the fifth groove portion are interference fit, and the fourth transfer arm has a second mounting hole, the second insertion end is inserted into the second mounting hole and the second inner ring of the second bearing, the second insertion end and the second inner ring of the second bearing are interference fit, and a gap is arranged between the fourth transfer arm and the second bearing.

[0015] In some embodiments of the first aspect, the robotic arm also includes a control component, which is electrically connected to the elbow joint motor, the first wrist joint motor and the second wrist joint motor, respectively, and is used to control the elbow joint motor, the first wrist joint motor and the second wrist joint motor to execute action instructions, respectively; wherein the forearm has a control cavity, and the control component is installed in the control cavity.

[0016] In some embodiments of the first aspect, the control component includes a control board, a communication board and a mounting member, the third adapter arm is connected to the fourth adapter arm through the mounting member, one of the control board and the communication board is arranged on a side of the mounting member away from the second wrist joint motor, and the other of the control board and the communication board is arranged on a side of the mounting member close to the second wrist joint motor.

[0017] In a second aspect, the present application also provides a humanoid robot, comprising a robotic arm as described in any one of the above embodiments.

[0018] The embodiments of the present invention have the following advantages:

[0019] With the robotic arm provided by the present invention, the first wrist joint driver is used to drive the hand assembly to rotate around the first reference axis, so as to drive the hand to swing up and down along the front-to-back direction of the axis of the forearm, similar to the action of nodding. This movement occurs in the vertical plane of the wrist joint. The second wrist joint driver is used to drive the wrist skeleton to rotate around the second reference axis, so as to drive the hand assembly to perform a yaw motion, and the hand assembly swings left and right along the axis of the forearm, similar to turning the head left and right to observe the situation on both sides. In addition, the first wrist joint driver and the second wrist joint driver are arranged in sequence in the axial direction of the forearm. Obviously, compared with the traditional parallel motor design, this sequential series connection method can reduce the space occupied inside the robotic arm, simplify the transmission link, and reduce the number of parts.

[0020] Therefore, the mechanical arm provided by the present application reduces the number of parts, and the weight of the entire mechanical arm is reduced, which not only helps to improve the robot's motion performance, but also reduces energy consumption. In addition, by simplifying the structure, lower manufacturing costs can be obtained. At the same time, reducing the number of parts also helps to reduce maintenance costs, reduce failure points, and improve the reliability of the mechanical arm. Furthermore, by optimizing the structure of the mechanical arm, the mechanical arm can be made lighter and easier to enter narrow spaces.

[0021] The present invention also relates to a humanoid robot. Since the above-mentioned robotic arm has the above-mentioned technical effects, the humanoid robot including the robotic arm should have the same technical effects, which will not be repeated here.

[0022] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 A schematic structural diagram of a mechanical arm provided by an embodiment of the present invention is shown;

[0025] Figure 2 An exploded schematic diagram of a mechanical arm provided by an embodiment of the present invention is shown;

[0026] Figure 3 A schematic structural diagram of a forearm assembly in a mechanical arm provided by an embodiment of the present invention is shown;

[0027] Figure 4 An exploded schematic diagram of a forearm assembly in a mechanical arm provided by an embodiment of the present invention is shown;

[0028] Figure 5 An exploded schematic diagram of a wrist skeleton of a mechanical arm provided by an embodiment of the present invention is shown;

[0029] Figure 6 A schematic diagram of assembling an elbow adapter and an elbow joint motor in a mechanical arm provided by an embodiment of the present invention is shown;

[0030] Figure 7 A schematic structural diagram of a first connecting member in a mechanical arm provided by an embodiment of the present invention is shown.

[0031] Description of main component symbols:

[0032] 100-shoulder assembly; 200-upper arm assembly; 300-lower arm assembly; 310-elbow adapter; 311-third standard zero hole; 320-fourth slot; 321-fourth slot wall; 330-elbow joint motor; 331-third shaft; 332-third shell; 333-third standard parts; 340-control assembly; 341-board cover; 342-communication board; 343-mounting piece; 344-control board; 350-second wrist joint motor; 351-second shaft; 352-second shell; 3521-second standard zero hole; 360-lower arm; 361-elbow joint end; 362-wrist joint end; 363-fourth adapter arm; 364-third adapter arm; 365-second mounting hole; 366-second connecting piece; 367-second Bearing; 368-fifth groove; 369-second mark part; 3691-second mark zero hole; 370-first wrist joint motor; 371-first rotating shaft; 372-first shell; 3721-first mark zero hole; 373-third groove; 374-first bearing; 3741-first inner ring; 375-first connecting piece; 3751-large diameter section; 3752-middle diameter section; 3753-small diameter section; 380-wrist adapter; 381-second adapter arm; 3811-first mounting hole; 382-first adapter arm; 383-six-dimensional force sensor; 384-first mark part; 3841-first mark zero hole; 390-wrist skeleton; 391-second groove; 392-first groove; 393-second groove wall; 394-first groove wall. DETAILED DESCRIPTION

[0033] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0034] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. In contrast, when an element is referred to as being "directly on" another element, there is no intermediate element. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0035] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of the template are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0038] In related technologies, with the advancement of science and technology, the research and application fields of robots are constantly expanding. Among them, the research and application of humanoid robots have received particular attention and has become one of the most active research hotspots in the field of robotics.

[0039] Among them, the robotic arm is a representative complex component in the humanoid robot system. It is the basis for the humanoid robot to complete grasping operations and human-machine interaction. Its structure is complex and heavy. At the same time, the cost of the robotic arm is high. With the application of humanoid robots in the industrial field, higher requirements are placed on the lightweight and low-cost design of the robotic arm of humanoid robots.

[0040] like Figure 1 , Figure 2 and Figure 3As shown, in order to solve the above-mentioned technical problems, an embodiment of the present application provides a robotic arm, which includes a forearm assembly 300, and the forearm assembly 300 includes a forearm 360, a wrist skeleton 390, a first wrist joint driver and a second wrist joint driver. The forearm 360 has an elbow joint end 361 and a wrist joint end 362. The first wrist joint driver, the wrist skeleton 390, the second wrist joint driver and the wrist joint end 362 are connected in sequence. The first wrist joint driver and the second wrist joint driver are arranged in sequence in the axial direction of the forearm 360. The first wrist joint driver is used to drive the hand assembly to rotate around a first reference axis. The second wrist joint driver is used to connect the hand assembly and can drive the wrist skeleton 390 to rotate around a second reference axis. The first reference axis, the second reference axis and the axis of the forearm 360 are perpendicular to each other.

[0041] In these embodiments, an improved mechanical arm and humanoid robot design is provided, by optimizing the structure of the forearm 360, adopting a sequential series motor arrangement to replace the traditional parallel motor and connecting rod transmission scheme, thereby greatly reducing the number of parts in the forearm assembly 300, and effectively reducing the weight and manufacturing cost of the entire mechanical arm. Among them, the mechanical arm includes a shoulder assembly 100, a large arm assembly 200, a forearm assembly 300 and a hand assembly connected in sequence, and in this application, the forearm assembly 300 is the core part of the mechanical arm, and is composed of the following main components:

[0042] The forearm 360 has two ends, and the two ends of the forearm 360 are respectively defined as an elbow joint end 361 and a wrist joint end 362. The wrist skeleton 390 is a part connecting the forearm 360 and the hand assembly. The first wrist joint driver is used to drive the hand assembly to rotate around the first reference axis to drive the hand to swing up and down along the front-to-back direction of the axis of the forearm 360, similar to the action of nodding. This movement occurs in the vertical plane of the wrist joint. The second wrist joint driver is used to drive the wrist skeleton 390 to rotate around the second reference axis to drive the hand assembly to perform a yaw action, and the hand assembly swings left and right along the axis of the forearm 360, similar to turning the head left and right to observe the situation on both sides. In other words, the first wrist joint driver cooperates with the second wrist joint driver to achieve rotation in two directions similar to that of a human wrist joint.

[0043] Furthermore, the first wrist joint drive and the second wrist joint drive are sequentially arranged in the axial direction of the small arm 360. Obviously, compared with the traditional parallel motor design, this sequential series connection method can reduce the space occupied inside the robot arm, simplify the transmission link, and reduce the number of parts.

[0044] It should be noted that the first reference axis, the second reference axis and the axis of the small arm 360 are perpendicular to each other, which means that the robot arm can achieve freedom of movement in three directions, enhancing its operational flexibility. In other words, the first reference axis, the second reference axis and the axis of the small arm 360 are perpendicular to each other, ensuring the free movement of the small arm 360 of the robot arm in three-dimensional space and being able to perform complex tasks.

[0045] Therefore, the mechanical arm provided by the present application reduces the number of parts, and the weight of the entire mechanical arm is reduced, which not only helps to improve the robot's motion performance, but also reduces energy consumption. In addition, by simplifying the structure, lower manufacturing costs can be obtained. At the same time, reducing the number of parts also helps to reduce maintenance costs, reduce failure points, and improve the reliability of the mechanical arm. Furthermore, by optimizing the structure of the mechanical arm, the mechanical arm can be made lighter and easier to enter narrow spaces.

[0046] like Figure 3 As shown, in some embodiments, the first wrist joint driving member is configured as a first wrist joint motor 370, the first wrist joint motor 370 has a first housing 372 and a first rotating shaft 371, the axis of the first rotating shaft 371 coincides with the first reference axis, the first housing 372 is connected to the wrist skeleton 390, and the first rotating shaft 371 is connected to the wrist joint end 362;

[0047] The second wrist joint driving member is configured as a second wrist joint motor 350 . The second wrist joint motor 350 has a second housing 352 and a second rotating shaft 351 . The axis of the second rotating shaft 351 coincides with the second reference axis. The second housing 352 is connected to the wrist skeleton 390 .

[0048] In these embodiments, the forearm assembly 300 of the robot arm adopts an optimized design to achieve light weight and high flexibility. Specifically, the first wrist joint driving member and the second wrist joint driving member are respectively designed as a first wrist joint motor 370 and a second wrist joint motor 350, wherein the structure and connection method of the first wrist joint motor 370 and the second wrist joint motor 350 are as follows:

[0049] The first wrist joint motor 370 is composed of a first housing 372 and a first shaft 371. The axis of the first shaft 371 coincides with the first reference axis, that is, the rotation direction of the first shaft 371 is the direction in which the hand assembly rotates around the first reference axis. The first housing 372 is connected to the wrist skeleton 390 to ensure the stable fixation of the motor; the first shaft 371 is connected to the wrist joint end 362, and the rotation of the first shaft 371 directly drives the wrist joint end 362 to move.

[0050] The second wrist joint motor 350 is composed of a second housing 352 and a second shaft 351. The axis of the second shaft 351 coincides with the second reference axis, that is, the rotation direction of the second shaft 351 is the direction in which the wrist skeleton 390 rotates around the second reference axis. The second housing 352 is also connected to the wrist skeleton 390 to ensure the stable fixation of the second wrist joint motor 350.

[0051] Obviously, the first wrist joint motor 370 and the second wrist joint motor 350 are arranged in sequence in the axial direction of the forearm 360, and each is responsible for an independent rotational degree of freedom. When the first rotating shaft 371 of the first wrist joint motor 370 rotates, since the first rotating shaft 371 is connected to the wrist joint end 362, it will drive the hand assembly to rotate around the first reference axis. This rotation is similar to the left and right swing of the hand (Yaw). When the second rotating shaft 351 of the second wrist joint motor 350 rotates, since the second rotating shaft 351 is connected to the wrist skeleton 390, it will drive the wrist skeleton 390 to rotate around the second reference axis. This rotation is similar to the up and down swing of the hand (Pitch).

[0052] Therefore, by directly connecting the first wrist joint motor 370 and the second wrist joint motor 350 to the wrist frame 390, the intermediate transmission link is omitted, the number of parts is reduced, and the structure is simplified. Due to the reduction of unnecessary transmission parts, the weight of the entire robot arm is reduced, and the flexibility and response speed are improved.

[0053] For example, in this embodiment, the first wrist joint motor 370 is configured as a steering gear. Of course, in other embodiments, the first wrist joint motor 370 can also be configured as a servo motor, a stepping motor, etc., which is not specifically limited here.

[0054] For example, in this embodiment, the second wrist joint motor 350 is configured as a steering gear. Of course, in other embodiments, the second wrist joint motor 350 can also be configured as a servo motor, a stepping motor, etc., which is not specifically limited here.

[0055] For the purpose of optimizing the structure and weight of the robot arm, the wrist frame 390 is provided with weight-reducing holes. Alternatively, the wrist frame 390 adopts a frame structure or the like.

[0056] like Figure 3 , Figure 4 and Figure 5As shown, in some embodiments, the wrist skeleton 390 has a first end and a second end relative to each other, the first end has a first groove portion 392, the second end has a second groove portion 391, the first groove portion 392 has a pair of oppositely arranged first groove walls 394, the first shell 372 is located in the first groove portion 392, and the first shell 372 is connected to the first groove wall 394 on the corresponding side, the second groove portion 391 has a pair of oppositely arranged second groove walls 393, the second shell 352 is located in the second groove portion 391, and the second shell 352 is connected to the second groove wall 393 on the corresponding side.

[0057] In these embodiments, the wrist skeleton 390 in the forearm assembly 300 of the robot arm adopts a special structural design to achieve a more compact and stable connection mode. Specifically, the wrist skeleton 390 has a first end and a second end opposite to each other, and the two ends are respectively used to connect different driving components, that is, respectively used to connect the first wrist joint motor 370 and the second wrist joint motor 350. The first end is provided with a first groove 392, and the groove has a pair of first groove walls 394 arranged oppositely. The second end is provided with a second groove 391, and the groove has a pair of second groove walls 393 arranged oppositely. The first housing 372 of the first wrist joint motor 370 is located in the first groove 392, so that the tight connection between the first wrist joint motor 370 and the wrist skeleton 390 can be ensured. The first housing 372 is connected to the first groove wall 394 on the corresponding side of the first groove 392. This connection mode not only ensures the stability of the second wrist joint motor 350, but also enables the first wrist joint motor 370 to directly transmit the driving force to the wrist skeleton 390.

[0058] Illustratively, the first housing 372 of the first wrist joint motor 370 abuts against the first groove wall 394 on the corresponding side.

[0059] The second housing 352 of the second wrist joint motor 350 is located in the second groove 391. This design is also to achieve a compact layout. The second housing 352 is connected to the second groove wall 393 on the corresponding side of the second groove 391, ensuring the fixation and force transmission of the second wrist joint motor 350 in the wrist skeleton 390. For example, the second housing 352 of the second wrist joint motor 350 abuts against the second groove wall 393 on the corresponding side.

[0060] Obviously, the first wrist joint motor 370 and the second wrist joint motor 350 are respectively located at different ends of the wrist skeleton 390 and are tightly combined with the corresponding slot walls. In other words, by placing the motor inside the slot and connecting it to the slot wall, the compact structure is achieved and the overall volume of the robotic arm is reduced. In addition, the direct connection between the motor and the slot wall ensures the stability of the motor and reduces the force transmission loss caused by looseness or displacement. Furthermore, this design simplifies the installation process of the first wrist joint motor 370 and the second wrist joint motor 350, making assembly more convenient and quick. The intermediate transmission links are reduced, the failure rate is reduced, and the overall reliability of the system is improved.

[0061] Exemplarily, the first slot portion 392 is configured as a U-shaped structure, and the second slot portion 391 is configured as a U-shaped structure. Of course, in other embodiments, the first slot portion 392 has a single first slot wall 394, and the second slot portion 391 has a single second slot wall 393, relative to the first slot portion 392 being configured as an L-shaped structure, the second slot portion 391 is configured as an L-shaped structure.

[0062] like Figure 3 , Figure 4 and Figure 5 As shown, in some embodiments, the forearm assembly 300 also includes a wrist adapter 380, which has a first adapter arm 382 and a second adapter arm 381 that are relatively arranged, the first adapter arm 382 is connected to the first rotating shaft 371, the second adapter arm 381 is rotatably connected to the first shell 372, and the first adapter arm 382 and the second adapter arm 381 are coaxially rotatably arranged.

[0063] In these embodiments, this design enables the forearm assembly 300 to achieve a stable connection with the hand assembly and to be able to move flexibly in multiple dimensions. That is, the first transfer arm 382 is connected to the first shaft 371 to rotate through the first shaft 371 of the first wrist joint motor 370, thereby driving the hand assembly to swing, and the second transfer arm 381 is assisted by the rotation of the first housing 372 to achieve auxiliary support for the hand assembly and the tail of the first wrist joint motor 370, which is beneficial to enhance the connection stability and connection strength between the forearm assembly 300 and the hand assembly.

[0064] Obviously, the first transfer arm 382 and the second transfer arm 381 are arranged in a U-shape, which can reduce the overall weight while ensuring the connection between the forearm assembly 300 and the hand assembly.

[0065] It should be noted that the rotational connection position between the second transfer arm 381 and the first housing 372 is planned and arranged so that both the first transfer arm 382 and the second transfer arm 381 rotate around the axis of the first rotating shaft 371 .

[0066] like Figure 5 As shown, in some embodiments, the small arm assembly 300 also includes a first connecting member 375, the first connecting member 375 has a first insertion end, and the end of the first connecting member 375 away from the first insertion end is connected to the second transfer arm 381; wherein, the first shell 372 has a third groove portion 373, and a first bearing 374 is arranged in the third groove portion 373, the first bearing 374 and the first rotating shaft 371 are coaxially arranged, the first bearing 374 and the third groove portion 373 are interference fit, and the second transfer arm 381 has a first mounting hole 3811, the first insertion end is penetrated through the first mounting hole 3811 and the first inner ring 3741 of the first bearing 374, the first insertion end and the first inner ring 3741 of the first bearing 374 are interference fit, a gap is arranged between the second transfer arm 381 and the first bearing 374, and the first small diameter section 3753 and the first inner ring 3741 are interference fit.

[0067] In these embodiments, the small arm assembly 300 is not limited to its basic structure, but also integrates a first connecting member 375, which plays a key role in the flexibility and stability of the robot arm. Specifically, the first connecting member 375 has a first insertion end for assembly, and the other end is connected to the second transfer arm 381. In order to ensure that this connection mechanism can operate efficiently, a third groove 373 is specially provided in the first housing 372. A first bearing 374, such as a tapered roller bearing, etc., is arranged inside the third groove 373. The first bearing 374 and the third groove 373 are matched by an interference fit, which means that the first bearing 374 is tightly fixed in the third groove 373, thereby reducing looseness or displacement during movement, ensuring the stability of the robot arm during operation, and eliminating the fixation by fasteners such as bolts, so as to achieve the purpose of reducing weight and cost.

[0068] Furthermore, a first mounting hole 3811 is included in the second transfer arm 381. When assembled, the first insertion end of the first connecting member 375 will pass through the first mounting hole 3811 and extend into the inner ring of the first bearing 374, also fitting tightly with an interference fit. This design ensures a firm connection between the first connecting member 375 and the first bearing 374, and maintains good performance even when subjected to high loads or performing rapid movements. It is worth noting that a certain gap is reserved between the second transfer arm 381 and the first bearing 374. This design allows a certain degree of freedom, which helps to absorb slight deviations or vibrations generated during the movement of the robot arm, thereby enhancing the overall stability and durability of the system. In addition, it can prevent the second transfer arm 381 from contacting the first housing 372 and the first bearing 374 and causing jamming.

[0069] like Figure 7As shown, for example, in this embodiment, the end of the first connecting member 375 away from the first insertion end is connected to the second transfer arm 381 by bolts. Specifically, the first connecting member 375 has a first large diameter section 3751, a first middle diameter section 3752 and a first small diameter section 3753, the first mounting hole 3811 and the first middle diameter section 3752 are interference fit, the outer diameter of the first middle diameter section 3752 is larger than the inner diameter of the first inner ring 3741 but smaller than the outer diameter of the first inner ring 3741, the shoulder between the first middle diameter section 3752 and the first small diameter section 3753 and the end of the first inner ring 3741 are in conflict, the outer diameter of the first large diameter section 3751 is larger than the aperture of the first mounting hole 3811, the second transfer arm 381 is connected to the first large diameter section 3751 by bolts, and the axial length of the first middle diameter section 3752 is larger than the thickness of the second transfer arm 381.

[0070] like Figure 3 , Figure 4 and Figure 6 As shown, in some embodiments, the robot arm further includes a large arm assembly 200, and the small arm assembly 300 further includes an elbow joint motor 330 and an elbow adapter 310, the elbow joint motor 330 has a third housing 332 and a third rotating shaft 331, the large arm assembly 200 is connected to the third rotating shaft 331 through the elbow adapter 310, and the axis of the second rotating shaft 351 coincides with or is parallel to the axis of the small arm 360;

[0071] The elbow joint end 361 is provided with a fourth slot 320, the fourth slot 320 has at least two fourth slot walls 321, the elbow joint motor 330 is partially located in the fourth slot 320, and the third housing 332 is connected to the fourth slot wall 321 on the corresponding side;

[0072] The wrist joint end 362 has two oppositely arranged third transfer arms 364 and fourth transfer arms 363, the third transfer arm 364 is connected to the second rotating shaft 351, the fourth transfer arm 363 is rotationally connected to the second shell 352, and the third transfer arm 364 and the fourth transfer arm 363 are coaxially rotatably arranged.

[0073] In these embodiments, the robot arm not only includes a small arm assembly 300, but also integrates a large arm assembly 200, further improving the flexibility and functionality of the robot arm. Specifically, an elbow joint motor 330 and an elbow adapter 310 are introduced into the small arm assembly 300 to achieve more complex movements. The large arm assembly 200 is connected to the third rotating shaft 331 in the small arm assembly 300 through the elbow adapter 310. The elbow joint motor 330 has a third housing 332 and a third rotating shaft 331, and the axis of the third rotating shaft 331 coincides with or is parallel to the axis of the small arm 360. The elbow joint end 361 is provided with a fourth groove portion 320, which has at least two fourth groove walls 321. The elbow joint motor 330 is partially located in the fourth groove portion 320, and the third housing 332 is connected to the fourth groove wall 321 on the corresponding side. This design ensures the stable installation of the elbow joint motor 330.

[0074] The wrist joint end 362 has two oppositely arranged transfer arms, namely a third transfer arm 364 and a fourth transfer arm 363. The third transfer arm 364 is connected to the second rotating shaft 351, and the fourth transfer arm 363 is rotatably connected to the second housing 352, and the third transfer arm 364 and the fourth transfer arm 363 are coaxially rotatably arranged.

[0075] When the third shaft 331 of the elbow joint motor 330 rotates, since the third shaft 331 is connected to the boom assembly 200 through the elbow adapter 310, the rotation of the third shaft 331 can drive the small arm assembly 300 to rotate relative to the big arm assembly 200. This rotation is usually the rotation of the small arm assembly 300 around the big arm axis.

[0076] The third transfer arm 364 is connected to the second rotating shaft 351, and when the second rotating shaft 351 rotates, the third transfer arm 364 rotates accordingly. The fourth transfer arm 363 is rotationally connected to the second shell 352, ensuring the flexibility of the wrist. The third transfer arm 364 and the fourth transfer arm 363 are coaxially rotatably arranged so that the hand assembly can rotate around the second reference axis. By placing the elbow joint motor 330 inside the fourth slot 320 and connecting it to the fourth slot wall 321, a compact structure is achieved and the overall volume of the robotic arm is reduced. The direct rotation connection between the third rotating shaft 331 and the third shell 332 of the elbow joint motor 330 and the slot wall respectively ensures the stability of the elbow joint motor 330 and reduces the force transmission loss caused by looseness or displacement.

[0077] Obviously, the third transfer arm 364 and the third transfer arm 364 have a U-shaped structure, which can reduce the overall weight while ensuring the connection between the forearm 360 and the second wrist joint motor 350 .

[0078] It should be noted that the rotational connection position between the fourth transfer arm 363 and the second housing 352 is planned and arranged so that both the third transfer arm 364 and the fourth transfer arm 363 can rotate around the axis of the second rotating shaft 351 .

[0079] like Figure 3 , Figure 4 and Figure 5 As shown, in some embodiments, the small arm assembly 300 also includes a second connecting member 366, the second connecting member 366 has a second insertion end, and the end of the second connecting member 366 away from the second insertion end is connected to the fourth transfer arm 363; wherein, the second shell 352 has a fifth groove portion 368, and a second bearing 367 is arranged in the fifth groove portion 368, the second bearing 367 and the second rotating shaft 351 are coaxially arranged, the second bearing 367 and the fifth groove portion 368 are interference fit, and the fourth transfer arm 363 has a second mounting hole 365, the second insertion end is penetrated through the second mounting hole 365 and the second inner ring of the second bearing 367, the second insertion end and the second inner ring of the second bearing 367 are interference fit, and a gap is arranged between the fourth transfer arm 363 and the second bearing 367.

[0080] In these embodiments, the small arm assembly 300 is not limited to its basic structure, but also integrates a second connecting member 366, which plays a key role in the flexibility and stability of the robot arm. Specifically, the second connecting member 366 has a second insertion end for assembly, and the other end is connected to the fourth transfer arm 363. In order to ensure that this connection mechanism can operate efficiently, a fifth groove 368 is specially provided in the second housing 352. A second bearing 367, such as a tapered roller bearing, is arranged inside the fifth groove 368. The fit between the second bearing 367 and the fifth groove 368 adopts an interference fit, which means that the second bearing 367 is tightly fixed in the fifth groove 368, thereby reducing looseness or displacement during movement, ensuring the stability of the robot arm during operation, and eliminating the fixation by fasteners such as bolts, so as to achieve the purpose of reducing weight and cost.

[0081] Furthermore, the fourth transfer arm 363 includes a second mounting hole 365. When assembled, the second insertion end of the second connecting member 366 will pass through the second mounting hole 365 and extend into the second inner ring of the second bearing 367, also fitting tightly with an interference fit. This design ensures a firm connection between the second connecting member 366 and the first bearing 374, and maintains good performance even when subjected to high loads or performing rapid movements. It is worth noting that a certain gap is reserved between the fourth transfer arm 363 and the second bearing 367. This design allows a certain degree of freedom, which helps to absorb slight deviations or vibrations generated during the movement of the robot arm, thereby enhancing the overall stability and durability of the system. In addition, it can prevent the second transfer arm 381 from contacting the first housing 372 and the first bearing 374 and causing jamming.

[0082] Exemplarily, in this embodiment, the end of the second connecting member 366 away from the second insertion end is connected to the fourth transfer arm 363 by bolts. Specifically, the second connecting member 366 has a second large diameter section 3751, a second middle diameter section 3752, and a second small diameter section 3753, the second mounting hole 365 and the second middle diameter section 3752 are interference fit, the outer diameter of the second middle diameter section 3752 is larger than the inner diameter of the second inner ring but smaller than the outer diameter of the second inner ring, the shoulder between the second middle diameter section 3752 and the second small diameter section 3753 and the end of the second inner ring are in contact, the outer diameter of the second large diameter section 3751 is larger than the aperture of the second mounting hole 365, the fourth transfer arm 363 is connected to the second large diameter section 3751 by bolts, and the axial length of the second middle diameter section 3752 is larger than the thickness of the fourth transfer arm 363, and the second small diameter section 3753 is interference fit with the second inner ring.

[0083] like Figure 3 and Figure 4 As shown, in some embodiments, the robotic arm also includes a control component 340, which is electrically connected to the elbow joint motor 330, the first wrist joint motor 370 and the second wrist joint motor 350, respectively, and the control component 340 is used to control the elbow joint motor 330, the first wrist joint motor 370 and the second wrist joint motor 350 to execute action instructions, respectively; wherein the forearm 360 has a control cavity, and the control component 340 is installed in the control cavity.

[0084] In order to describe the above content in more detail and make it clearer and easier to understand, the following is an expansion and supplement to it: Detailed description of the technical solution In some specific embodiments, the robotic arm not only includes the above-mentioned small arm assembly 300, large arm assembly 200 and related drive motors, but also integrates a control assembly 340 for coordinating and controlling the movement of each motor. Specifically, the robotic arm includes a control assembly 340, which is electrically connected to the elbow joint motor 330, the first wrist joint motor 370 and the second wrist joint motor 350 respectively. The control assembly 340 is used to receive action instructions from an external system, and send these instructions to the elbow joint motor 330, the first wrist joint motor 370 and the second wrist joint motor 350 respectively to control them to perform corresponding actions.

[0085] A control cavity is provided inside the small arm 360, and the control assembly 340 is installed in the control cavity. Installing the control assembly 340 in the control cavity can ensure that the electrical connection between it and each motor is more convenient, and help protect the control assembly 340 from the external environment. In addition, the weight of the small arm 360 can be reduced by rationally utilizing the space.

[0086] It should be noted that the control component 340 can effectively manage and coordinate the movement of each motor. The control component 340 receives action instructions from an external control system (such as a PLC, a computer or other main control device) through a communication interface (such as a CAN bus, Ethernet or other communication protocols). The control component 340 contains a processor and a memory inside, which are used to parse the received action instructions and decompose them into specific control commands for different motors according to a predetermined control logic. The control component 340 sends the parsed control commands to the elbow joint motor 330, the first wrist joint motor 370 and the second wrist joint motor 350 respectively. Each motor performs corresponding actions according to the received control commands. The control component 340 is also responsible for monitoring the status of each motor and collecting feedback information of the motor (such as data from a position sensor) to ensure that the motor performs the action as expected and adjusts the control strategy in a timely manner.

[0087] Obviously, by integrating the control component 340 into the control cavity of the small arm 360, not only space is saved, but also the wiring of the robot arm is simplified, and the compactness and reliability of the system are improved.

[0088] For example, in this embodiment, the installation cavity is the space between the third transfer arm 364 and the fourth transfer arm 363. Of course, in other embodiments, the installation cavity can also be set as a space opened in the small arm 360.

[0089] like Figure 4As shown, in some embodiments, the control component 340 includes a control board 344, a communication board 342 and a mounting member 343, the third transfer arm 364 is connected to the fourth transfer arm 363 through the mounting member 343, one of the control board 344 and the communication board 342 is arranged on the side of the mounting member 343 away from the second wrist joint motor 350, and the other of the control board 344 and the communication board 342 is arranged on the side of the mounting member 343 close to the second wrist joint motor 350.

[0090] In these embodiments, the control board 344 of the control assembly 340 is responsible for receiving and parsing the action instructions, and then sending the control signal to each motor. The communication board 342 is used to exchange data with an external control system or other components. The mounting member 343 is used to fix the control board 344 and the communication board 342, and connect with other mechanical parts. That is, the third transfer arm 364 is connected to the fourth transfer arm 363 through the mounting member 343, which can ensure the strength of the forearm 360 while reducing the weight of the forearm 360.

[0091] One of the control board 344 and the communication board 342 is disposed on a side of the mounting member 343 away from the second wrist joint motor 350, and the other is disposed on a side of the mounting member 343 close to the second wrist joint motor 350. This separation layout design is conducive to reducing electromagnetic interference, and is convenient for maintenance and heat dissipation.

[0092] For example, the mounting member 343 is configured as a mounting plate, and the wrist joint end 362 is respectively parallel to the control board 344, the mounting member 343 and the communication board 342, thereby further reducing the length and weight of the forearm 360. In addition, by arranging the control board 344 and the communication board 342 on different sides of the mounting member 343, not only space is saved, but also the structure of the entire robotic arm is made more compact.

[0093] For example, based on the protection function, a board cover 341 is added to cover the control board 344 and the communication board 342, and is fixed to the side of the mounting member 343 by screws.

[0094] like Figure 5 As shown, in some embodiments, the forearm assembly 300 also includes a first marking part 384, which is connected to the wrist adapter 380, and the first marking part 384 has a first marking hole 3841; wherein, the first shell 372 has a first marking matching hole 3721, and the first marking matching hole 3721 is located on the moving path of the first marking hole 3841, and when the first marking matching hole 3721 and the first marking hole 3841 are coaxial, the first rotating shaft 371 is in a zero position state.

[0095] In these embodiments, in order to facilitate the calibration and maintenance of the robotic arm, by adjusting the position of the first zero hole 3841, when the first zero hole 3841 is coaxially aligned with the first zero matching hole 3721, the first rotating shaft 371 is in a zero position state, thereby facilitating the initialization and position correction of the robotic arm, i.e. ensuring that the robotic arm can be accurately reset during use, thereby improving the reliability and accuracy of the system.

[0096] For example, the first zeroing hole 3841 is opened on the first connecting arm 382, ​​and the first zeroing matching hole 3721 is set at the end of the first shell 372 away from the first rotating shaft 371. When the first wrist joint motor 370 needs to be zeroed, it is only necessary to align the first zeroing hole 3841 on the first marking part 384 with the first zeroing matching hole 3721 on the first shell 372, and use pins of equal diameter to penetrate the first zeroing hole 3841 and the first zeroing matching hole 3721 to achieve zeroing of the first wrist joint motor 370.

[0097] For example, a wire clip is installed on the outer side of the wrist adapter 380 to fix the cable, wherein the wire clip can be a C-shaped wire clip.

[0098] like Figure 5 As shown, in some embodiments, the small arm assembly 300 also includes a second marking part 369, the second marking part 369 is connected to the fourth transfer arm 363, and the second marking part 369 has a second marking hole 3691; wherein, the second shell 352 has a second marking matching hole 3521, and the second marking matching hole 3521 is located on the moving path of the second marking hole 3691, and when the second marking matching hole 3521 and the second marking hole 3691 are coaxial, the second rotating shaft 351 is in a zero position state.

[0099] In these embodiments, in order to facilitate the calibration and maintenance of the robotic arm, by adjusting the position of the second homing hole 3691, when the second homing hole 3691 is coaxially aligned with the second homing matching hole 3521, the second rotating shaft 351 is in a zero position state, thereby facilitating the initialization and position correction of the robotic arm, i.e. ensuring that the robotic arm can be accurately reset during use, thereby improving the reliability and accuracy of the system.

[0100] For example, the second zeroing hole 3691 is opened on the fourth connecting arm 363, and the second zeroing matching hole 3521 is set at the end of the second shell 352 away from the second rotating shaft 351. When the second wrist joint motor 350 needs to be zeroed, it is only necessary to align the second zeroing hole 3691 on the second marking part 369 with the second zeroing matching hole 3521 on the second shell 352, and use pins of equal diameter to penetrate the second zeroing hole 3691 and the second zeroing matching hole 3521 to achieve zeroing of the second wrist joint motor 350.

[0101] Exemplarily, a wire clamp is installed on the outer side of the fourth transfer arm 363 to fix the cable, wherein the wire clamp may be a C-shaped wire clamp.

[0102] like Figure 6 As shown, in some embodiments, the forearm assembly 300 also includes a third zeroing part 333, the third zeroing part 333 is connected to the third slot wall, and the third zeroing part 333 has a third zeroing hole; wherein, the elbow adapter 310 has a third zeroing hole 311, the third zeroing hole 311 is located on the moving path of the third zeroing hole, and when the third zeroing hole 311 and the third zeroing hole are coaxial, the third rotating shaft 331 is in a zero position state.

[0103] In these embodiments, in order to facilitate the calibration and maintenance of the robotic arm, by adjusting the position of the third homing hole, when the third homing hole is coaxially aligned with the third homing matching hole 311, the third rotating shaft 331 is in a zero position state, thereby facilitating the initialization and position correction of the robotic arm, i.e. ensuring that the robotic arm can be accurately reset during use, thereby improving the reliability and accuracy of the system.

[0104] For example, the third zeroing hole is set on the third slot wall, the third zeroing hole 311 is on the elbow adapter 310, and when the elbow joint motor 330 needs to be zeroed, it is only necessary to align the third zeroing hole on the third marking part 333 with the third zeroing hole 311 on the elbow adapter 310, and use pins of equal diameter to penetrate the third zeroing hole and the third zeroing hole 311 to achieve zeroing of the elbow joint motor 330.

[0105] In some embodiments, the wrist adapter 380 is connected to the hand assembly via a six-axis force sensor 383 .

[0106] In some embodiments, based on safety considerations, the first wrist joint motor 370 is correspondingly provided with a first limiter to limit the movement range of the first wrist joint motor 370 to play a safety protection role.

[0107] The second wrist joint motor 350 is correspondingly provided with a second limiter to limit the movement range of the second wrist joint motor 350 to play a safety protection role.

[0108] The third wrist joint motor is correspondingly provided with a third limiter to limit the movement range of the third wrist joint motor, thereby playing a safety protection role.

[0109] In some embodiments, the present application also provides a humanoid robot, which includes a robotic arm as described in any of the above embodiments.

[0110] Obviously, the present application is not limited to a single robotic arm, but also proposes a new integrated solution, namely a humanoid robot. This humanoid robot integrates the robotic arm technology described in the various embodiments above, aiming to provide users with a more intelligent, flexible and efficient automation solution. One of the design goals of a humanoid robot is to imitate the human body structure and movement ability to achieve more natural human-computer interaction and a wide range of application scenarios. As an important component of a humanoid robot, the robotic arm bears the key responsibilities of performing various tasks, such as grasping objects, performing fine operations, etc.

[0111] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not as limiting, and thus other examples of the exemplary embodiments may have different values.

[0112] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0113] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A robotic arm, comprising a small arm assembly, characterized in that: The forearm assembly includes a forearm, a wrist skeleton, a first wrist joint driver and a second wrist joint driver, the forearm has an elbow joint end and a wrist joint end, the first wrist joint driver, the wrist skeleton, the second wrist joint driver and the wrist joint end are connected in sequence, the first wrist joint driver and the second wrist joint driver are arranged in sequence in the axial direction of the forearm, the first wrist joint driver is used to drive the hand assembly to rotate around a first reference axis, the second wrist joint driver is used to connect the hand assembly and can drive the wrist skeleton to rotate around a second reference axis, the first reference axis, the second reference axis and the axis of the forearm are perpendicular to each other.

2. The robotic arm according to claim 1, characterized in that: The first wrist joint driving member is configured as a first wrist joint motor, the first wrist joint motor having a first housing and a first rotating shaft, the axis of the first rotating shaft coincides with the first reference axis, the first housing is connected to the wrist skeleton, and the first rotating shaft is connected to the wrist joint end; The second wrist joint driving component is configured as a second wrist joint motor, the second wrist joint motor has a second housing and a second rotating shaft, the axis of the second rotating shaft coincides with the second reference axis, and the second housing is connected to the wrist skeleton.

3. The robotic arm according to claim 2, characterized in that: The wrist skeleton has a first end and a second end relative to each other, the first end has a first groove portion, the second end has a second groove portion, the first groove portion has a pair of first groove walls oppositely arranged, the first shell is located in the first groove portion, and the first shell is connected to the first groove wall on the corresponding side, the second groove portion has a pair of second groove walls oppositely arranged, the second shell is located in the second groove portion, and the second shell is connected to the second groove wall on the corresponding side.

4. The robotic arm according to claim 2, characterized in that: The forearm assembly also includes a wrist adapter, which has a first adapter arm and a second adapter arm that are relatively arranged, the first adapter arm is connected to the first rotating shaft, the second adapter arm is rotationally connected to the first shell, and the first adapter arm and the second adapter arm are coaxially rotatably arranged.

5. The robotic arm according to claim 4, characterized in that: The small arm assembly also includes a first connecting member, the first connecting member has a first insertion end, and the end of the first connecting member facing away from the first insertion end is connected to the second transfer arm; wherein, the first shell has a third groove portion, a first bearing is arranged in the third groove portion, the first bearing and the first rotating shaft are coaxially arranged, the first bearing and the third groove portion are interference fit, and the second transfer arm has a first mounting hole, the first insertion end is penetrated through the first mounting hole and the first inner ring of the first bearing, the first insertion end and the first inner ring of the first bearing are interference fit, and a gap is arranged between the second transfer arm and the first bearing.

6. The robotic arm according to claim 2, characterized in that: The mechanical arm further comprises a large arm assembly, and the small arm assembly further comprises an elbow joint motor and an elbow adapter, wherein the elbow joint motor has a third housing and a third rotating shaft, and the large arm assembly is connected to the third rotating shaft through the elbow adapter, and the axis of the second rotating shaft coincides with or is parallel to the axis of the small arm; Wherein, the elbow joint end is provided with a fourth slot portion, the fourth slot portion has at least two fourth slot walls, the elbow joint motor portion is located in the fourth slot portion, and the third housing is connected to the fourth slot wall on the corresponding side; The wrist joint end has two oppositely arranged third transfer arms and a fourth transfer arm, the third transfer arm is connected to the second rotating shaft, the fourth transfer arm is rotationally connected to the second shell, and the third transfer arm and the fourth transfer arm are coaxially rotatably arranged.

7. The robot arm according to claim 6, characterized in that: The small arm assembly also includes a second connecting member, the second connecting member has a second insertion end, and the end of the second connecting member facing away from the second insertion end is connected to the fourth transfer arm; wherein, the second shell has a fifth groove portion, a second bearing is arranged in the fifth groove portion, the second bearing and the second rotating shaft are coaxially arranged, the second bearing and the fifth groove portion are interference fit, and the fourth transfer arm has a second mounting hole, the second insertion end is penetrated through the second mounting hole and the second inner ring of the second bearing, the second insertion end and the second inner ring of the second bearing are interference fit, and a gap is arranged between the fourth transfer arm and the second bearing.

8. The robotic arm according to claim 6, characterized in that: The robotic arm also includes a control component, which is electrically connected to the elbow joint motor, the first wrist joint motor and the second wrist joint motor respectively, and is used to control the elbow joint motor, the first wrist joint motor and the second wrist joint motor respectively to execute action instructions; wherein the forearm has a control cavity, and the control component is installed in the control cavity.

9. The robot arm according to claim 8, characterized in that: The control component includes a control board, a communication board and a mounting component. The third adapter arm is connected to the fourth adapter arm through the mounting component. One of the control board and the communication board is arranged on a side of the mounting component away from the second wrist joint motor, and the other of the control board and the communication board is arranged on a side of the mounting component close to the second wrist joint motor.

10. A humanoid robot, characterized in that: The humanoid robot comprises a robotic arm as claimed in any one of claims 1 to 9.

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